EstimatorEventFlags (повідомлення UORB)
c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# information events
uint32 information_event_changes # number of information event changes
bool gps_checks_passed # 0 - true when gps quality checks are passing passed
bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement
bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement
bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement
bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero
bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position
bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement
bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement
bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates
bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates
bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
# warning events
uint32 warning_event_changes # number of warning event changes
bool gps_quality_poor # 0 - true when the gps is failing quality checks
bool gps_fusion_timout # 1 - true when the gps data has not been used to correct the state estimates for a significant time period
bool gps_data_stopped # 2 - true when the gps data has stopped for a significant time period
bool gps_data_stopped_using_alternate # 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
bool height_sensor_timeout # 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
bool bad_yaw_using_gps_course # 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period
bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data